Machine-Mavericks / FRC-2022

FRC 7480's code for Rapid React

Other

0 stars 0 forks source link

Gyro and Odometry #57

Closed gregk27 closed 2 years ago

gregk27 commented 2 years ago

Changes

Fix issues with gyro initialisation, make it possible to specify starting angle or reset at runtime. Also includes adjustments to odometry to match field coordinate system

Closes #41 Contributes to #46, not sure if it's enough to close

Subystems

Gyro
SwerveOdometry

Commands

N/A

Testing

[x] Robot starts at specified angle
[x] Angle can be set with a button press
[x] Robot behaves correctly after angle is set
[x] Left is positive angle
[x] Down the field is positive y
[x] Left (from driver station) is positive x